/PROG  TL1_DROP
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL1 DROP";
PROG_SIZE	= 1212;
CREATE		= DATE 13-01-23  TIME 17:05:04;
MODIFIED	= DATE 18-11-08  TIME 16:46:38;
FILE_NAME	= TL1_DROP;
VERSION		= 0;
LINE_COUNT	= 22;
MEMORY_SIZE	= 1628;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  WAIT DI[25:TOOL #1]=OFF    ;
   6:J P[1:CLEAR] 30% CNT50    ;
   7:  OVERRIDE=50% ;
   8:L P[2:APPROACH] 600mm/sec CNT30 ACC70    ;
   9:L P[3:APPROACH] 300mm/sec CNT50    ;
  10:L P[4:APPROACH] 300mm/sec FINE    ;
  11:L P[5:DROP] 100mm/sec FINE ACC50 DB    0.0mm,DO[20:TOOL1 POS]=ON    ;
  12:  DO[13:REQ ATC CHUCK]=OFF ;
  13:  DO[14:REQ ATC UNCHUCK]=ON ;
  14:  WAIT DI[14:ATC UNCHUCK OK]=ON    ;
  15:  WAIT   1.00(sec) ;
  16:  DO[14:REQ ATC UNCHUCK]=OFF ;
  17:L P[6:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[20:TOOL1 POS]=OFF    ;
  18:L P[7:APPROACH] 300mm/sec CNT50    ;
  19:  WAIT DI[25:TOOL #1]=ON    ;
  20:L P[8:APPROACH] 300mm/sec CNT50    ;
  21:L P[1:CLEAR] 600mm/sec CNT50 ACC70    ;
  22:  MOVE TO HOME    ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3204.000  mm,	Y =   793.155  mm,	Z =  -527.000  mm,
	W =   180.000 deg,	P =     -.000 deg,	R =    90.253 deg,
	E1=    16.000 deg
};
P[2:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3204.000  mm,	Y =   700.605  mm,	Z = -1021.000  mm,
	W =  -180.000 deg,	P =    89.949 deg,	R =    90.000 deg,
	E1=    15.815 deg
};
P[3:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3204.000  mm,	Y =   701.000  mm,	Z = -1367.000  mm,
	W =  -180.000 deg,	P =    89.949 deg,	R =    90.000 deg,
	E1=    15.000 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3204.746  mm,	Y =   525.778  mm,	Z = -1370.659  mm,
	W =  -161.682 deg,	P =    88.437 deg,	R =   106.730 deg,
	E1=    16.255 deg
};
P[5:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3204.749  mm,	Y =   525.779  mm,	Z = -1444.415  mm,
	W =  -161.684 deg,	P =    88.437 deg,	R =   106.729 deg,
	E1=    16.255 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3204.748  mm,	Y =   650.000  mm,	Z = -1444.418  mm,
	W =  -161.683 deg,	P =    88.437 deg,	R =   106.730 deg,
	E1=    16.255 deg
};
P[7:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3204.745  mm,	Y =   721.600  mm,	Z = -1184.377  mm,
	W =  -161.687 deg,	P =    88.436 deg,	R =   106.725 deg,
	E1=    16.255 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3204.000  mm,	Y =   700.605  mm,	Z = -1021.000  mm,
	W =  -180.000 deg,	P =    89.949 deg,	R =    90.000 deg,
	E1=    15.815 deg
};
/END
